#include <RBDyn/RBDyn/Joint.h>

Public Types
enum	Type { Rev , Prism , Spherical , Planar , Cylindrical , Free , Fixed }
	Joint type. More...

enum	OldType { RevX , RevY , RevZ , PrismX , PrismY , PrismZ }
	Old joint type for Api compatibility. More...

Public Member Functions
	Joint ()

	Joint (OldType type, bool forward, std::string name)

	Joint (Type type, const Eigen::Vector3d &axis, bool forward, std::string name)

	Joint (Type type, bool forward, std::string name)

	Joint (std::string name)

void	makeMimic (const std::string &name, double multiplier, double offset)

Type	type () const

double	direction () const

bool	forward () const

void	forward (bool forward)

int	params () const

int	dof () const

const std::string &	name () const

bool	isMimic () const

const std::string &	mimicName () const

double	mimicMultiplier () const

double	mimicOffset () const

void	setRotorInertia (double Ir)
	Set Rotor Inertia.

double	rotorInertia () const

void	setGearRatio (double gr)
	Set Gear Ratio.

double	gearRatio () const

const Eigen::Matrix< double, 6, Eigen::Dynamic > &	motionSubspace () const

template<typename T >
sva::PTransform< T >	pose (const std::vector< T > &q) const

sva::MotionVecd	motion (const std::vector< double > &alpha) const

sva::MotionVecd	tanAccel (const std::vector< double > &alphaD) const

std::vector< double >	zeroParam () const

std::vector< double >	zeroDof () const

sva::PTransformd	sPose (const std::vector< double > &q) const

sva::MotionVecd	sMotion (const std::vector< double > &alpha) const

sva::MotionVecd	sTanAccel (const std::vector< double > &alphaD) const

bool	operator== (const Joint &b) const

bool	operator!= (const Joint &b) const

Static Public Member Functions
static std::vector< double >	ZeroParam (Type type)

static std::vector< double >	ZeroDof (Type type)

Detailed Description

Joint representation. Hold joint name (used as identifier) and compute transformation, speed and motion subspace. WARNING : Free joint translation parameters are in FP coordinate (Example 4.5 p81).

Member Enumeration Documentation

◆ OldType

enum rbd::Joint::OldType

Old joint type for Api compatibility.

Enumerator
RevX	Revolute joint about X axis.
RevY	Revolute joint about Y axis.
RevZ	Revolute joint about Z axis.
PrismX	Prismatique joint about X axis.
PrismY	Prismatique joint about Y axis.
PrismZ	Prismatique joint about Z axis.

◆ Type

enum rbd::Joint::Type

Joint type.

Enumerator
Rev	Revolute joint about an user specified axis.
Prism	Prismatic joint about an user specified axis.
Spherical	Spherical joint, represented by a quaternion.
Planar	Planar joint (2 prismatic(X, Y) and 1 revolute(Z)).
Cylindrical	Cylindrical joint (Z prismatic, Z revolute).
Free	Free joint, represented by a quaternion.
Fixed	Fixed joint.

Constructor & Destructor Documentation

◆ Joint() [1/5]

rbd::Joint::Joint ( )

inline

◆ Joint() [2/5]

rbd::Joint::Joint	(	OldType	type,
		bool	forward,
		std::string	name
	)

inline

Compatibility constructor

Parameters

type	Joint type.
forward	Joint is in forward direction if true.
name	Joint name, must be unique in a multibody.

◆ Joint() [3/5]

rbd::Joint::Joint	(	Type	type,
		const Eigen::Vector3d &	axis,
		bool	forward,
		std::string	name
	)

inline

Parameters

type	Joint type.
axis	User specified.
forward	Joint is in forward direction if true.
name	Joint name must be unique in a multibody.

◆ Joint() [4/5]

rbd::Joint::Joint	(	Type	type,
		bool	forward,
		std::string	name
	)

inline

Parameters

type	Joint type.
forward	Joint is in forward direction if true.
name	Joint name, must be unique in a multibody.

◆ Joint() [5/5]

rbd::Joint::Joint ( std::string name )

inline

Creates a fixed joint

Parameters

name	Joint name, must be unique in a multibody.

Member Function Documentation

◆ direction()

double rbd::Joint::direction ( ) const

inline

Returns: Joint direction.

◆ dof()

int rbd::Joint::dof ( ) const

inline

Number of degree of freedom of the joint.

Returns: Number of generalized speed and acceleration variable.

◆ forward() [1/2]

bool rbd::Joint::forward ( ) const

inline

Returns: true if joint is forward, else false.

◆ forward() [2/2]

void rbd::Joint::forward ( bool forward )

inline

Parameters

forward Put the joint in forward direction if true.

◆ gearRatio()

double rbd::Joint::gearRatio ( ) const

inline

Returns: Gear Ratio

◆ isMimic()

bool rbd::Joint::isMimic ( ) const

inline

Returns: True if the joint is a mimic joint

◆ makeMimic()

void rbd::Joint::makeMimic	(	const std::string &	name,
		double	multiplier,
		double	offset
	)

inline

Make the joint mimic and specify mimic information.

This change cannot be reversed.

Parameters

name	Name of the joint that will be mimiced.
multiplier	Mimic multiplier
offset	Mimic offset

◆ mimicMultiplier()

double rbd::Joint::mimicMultiplier ( ) const

inline

Returns: Mimic multiplier

◆ mimicName()

const std::string & rbd::Joint::mimicName ( ) const

inline

Returns: Mimiced name

◆ mimicOffset()

double rbd::Joint::mimicOffset ( ) const

inline

Returns: Mimic offset

◆ motion()

sva::MotionVecd rbd::Joint::motion ( const std::vector< double > & alpha ) const

inline

Compute the joint velocity.

Parameters

alpha vector of generalized speed variable.

Returns: Spatial motion vector of the joint.

◆ motionSubspace()

const Eigen::Matrix< double, 6, Eigen::Dynamic > & rbd::Joint::motionSubspace ( ) const

inline

Returns: Joint motion subspace in successor frame coordinate.

◆ name()

const std::string & rbd::Joint::name ( ) const

inline

Returns: Joint name.

◆ operator!=()

bool rbd::Joint::operator!= ( const Joint & b ) const

inline

◆ operator==()

bool rbd::Joint::operator== ( const Joint & b ) const

inline

◆ params()

int rbd::Joint::params ( ) const

inline

Number of parameters of the joint.

Returns: Number of generalized position variable.

◆ pose()

template<typename T >

sva::PTransform< T > rbd::Joint::pose ( const std::vector< T > & q ) const

inline

Compute the joint transformation from predecessor to successor frame.

Parameters

q	vector of generalized position variable.

Returns: Spatial transformation from predecessor to successor frame.

◆ rotorInertia()

double rbd::Joint::rotorInertia ( ) const

inline

Returns: Rotor Inertia

◆ setGearRatio()

void rbd::Joint::setGearRatio ( double gr )

inline

Set Gear Ratio.

Parameters

gr

◆ setRotorInertia()

void rbd::Joint::setRotorInertia ( double Ir )

inline

Set Rotor Inertia.

Parameters

Ir

◆ sMotion()

sva::MotionVecd rbd::Joint::sMotion ( const std::vector< double > & alpha ) const

inline

Safe version of motion method.

See also: motion

Exceptions

std::domain_error If the number of generalized speed variable is wrong.

◆ sPose()

sva::PTransformd rbd::Joint::sPose ( const std::vector< double > & q ) const

inline

Safe version of pose method.

See also: pose

Exceptions

std::domain_error If the number of generalized position variable is wrong.

◆ sTanAccel()

sva::MotionVecd rbd::Joint::sTanAccel ( const std::vector< double > & alphaD ) const

inline

Safe version of tanAccel method.

See also: tanAccel

Exceptions

std::domain_error If the number of generalized acceleration variable is wrong.

◆ tanAccel()

sva::MotionVecd rbd::Joint::tanAccel ( const std::vector< double > & alphaD ) const

inline

Compute the tangential part of the acceleration S*alphaD.

Parameters

alphaD vector of generalized acceleration variable.

Returns: Tangential part of acceleration

◆ type()

Type rbd::Joint::type ( ) const

inline

Returns: Joint type.

◆ zeroDof()

std::vector< double > rbd::Joint::zeroDof ( ) const

inline

Returns: Joint velocity at zero.

◆ ZeroDof()

std::vector< double > rbd::Joint::ZeroDof ( Type type )

inlinestatic

Returns: Joint velocity at zero.

◆ zeroParam()

std::vector< double > rbd::Joint::zeroParam ( ) const

inline

Returns: Joint configuation at zero.

◆ ZeroParam()

std::vector< double > rbd::Joint::ZeroParam ( Type type )

inlinestatic

Returns: Joint configuation at zero.

The documentation for this class was generated from the following file:

src/RBDyn/RBDyn/Joint.h

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ OldType

◆ Type

Constructor & Destructor Documentation

◆ Joint() [1/5]

◆ Joint() [2/5]

◆ Joint() [3/5]

◆ Joint() [4/5]

◆ Joint() [5/5]

Member Function Documentation

◆ direction()

◆ dof()

◆ forward() [1/2]

◆ forward() [2/2]

◆ gearRatio()

◆ isMimic()

◆ makeMimic()

◆ mimicMultiplier()

◆ mimicName()

◆ mimicOffset()

◆ motion()

◆ motionSubspace()

◆ name()

◆ operator!=()

◆ operator==()

◆ params()

◆ pose()

◆ rotorInertia()

◆ setGearRatio()

◆ setRotorInertia()

◆ sMotion()

◆ sPose()

◆ sTanAccel()

◆ tanAccel()

◆ type()

◆ zeroDof()

◆ ZeroDof()

◆ zeroParam()

◆ ZeroParam()